Systems, methods, and machines for detecting and mitigating drill stalls with an automated foundation component driving and assembly machine

ABSTRACT

An automated driving and assembly machine for driving foundation components, such as screw anchors, and for assembling foundations, such as truss foundations, using the driven screw anchors. The machine has a rotary driver and a hydraulic drilling tool. Sensors monitoring hydraulic pressure at the drilling tool will take incremental pressure readings during a driving operation. If the readings become clustered around a relative maximum, the controller will pause the driving operation and begin a drill stall mitigation sub-routine. This may involve retracting the drill and then hammering and releasing pressurized air to clear the stall. Clearance of the stall may also be derived by the controller from pressure readings.

CROSS-REFERENCE TO RELATED APPLICATIONS

This claims priority to U.S. provisional patent application 63/333,355, filed on Apr. 21, 2022, titled, “SYSTEMS, METHODS, AND MACHINES FOR DETECTING AND MITIGATING DRILL STALLS WITH AN AUTOMATED FOUNDATION COMPONENT DRIVING ASSEMBLY MACHINE”, the disclosure of which is hereby incorporated by reference in its entirety.

BACKGROUND

The applicant of this disclosure has developed a novel foundation system for supporting single-axis solar trackers, fixed tilt solar arrays and other solar and non-solar structures. Known commercially as EARTH TRUSS, this foundation system consists of a pair of adjacent legs extending above and below ground that form a truss with the ground. In some embodiments, each leg of the EARTH TRUSS is formed from a foundation component known as a screw anchor that is driven into the ground and an upper tubular section known as an upper leg. The upper leg is attached to the top of the screw anchor and the free ends of each upper leg are then joined into a unitary truss foundation with a so-called truss cap or adapter. Different length upper legs may be used to accommodate different heights and leg angles. In the case of various single-axis trackers, the tracker bearing assembly is attached to this truss cap. In other cases, the tracker bearing may be incorporated into the truss cap in what may be called a bearing adapter.

The EARTH TRUSS foundation provides several advantages over conventional H-pile foundations for single-axis trackers, however, its multi-piece construction also creates additional complexity relative to H-piles. To construct EARTH TRUSS foundations quickly and accurately at the scale required for solar power plants, applicant also had to develop a novel machine to drive the base underground component into the ground and to facilitate accurate assembly of the truss to those driven components. This machine, known commercially as a truss driver, combines a rotary driver and a drilling tool concentrically oriented on the same mast controlled by precision automation. Automation takes operator delay and variations out of the loop to insure that a given machine will drive each screw anchor using the same program and will respond to detected conditions in real time to prevent and/or mitigate any issues as they occur. A greater discussion of automated driving operations may be found in commonly assigned patent application, Ser. No. 16/659,440, now issued U.S. Pat. No. 10,907,318, the disclosure of which is hereby incorporated by reference in its entirety.

As shown and discussed herein, the drilling tool of the truss driver extends through the rotary driver and driven foundation component to clear obstacles and drill a path for the screw anchor through hard soils and even solid rock while the rotary driver rotates the screw anchor into the ground. Drilling through the component during driving obviates the need for a separate pre-drill step and results in tighter tolerances of truss components relative to pre-drilling. Pre-drill is more expensive because it requires a separate machine, is less precise because the same bore is drilled each time, and can suffer from cave-in necessitating other remediation. Also, because the truss is assembled while the machine remains oriented above the foundation location, the resulting foundation is normally ready for tracker installation without a subsequent alignment correction step normally required for H-piles.

By using an expanding drill bit passed through the screw anchor, the borehole diameter can be controlled by the distance the bit is extended out of or ahead of the screw anchor. In fact, the expanding bit enables the borehole to have a wider diameter than the inside diameter of the foundation component which, in turn, enables the external thread form at the lower end of each anchor to engage with the surrounding media, even if it is solid rock. However, like the truss itself, these additional controllable features require additional control over the drilling process to prevent damaging the bore hole (over excavating), damaging the screw anchor by forcing into a hole that it will not screw into, and even damaging the drill bit or drilling tool itself. In particular, with automated driving, it is possible for the drilling operation to stall, that is, further torque and downforce fail to result in further penetration of the bit. When this happens, it can damage the bit, the drill rod, the hydraulic system, and even the foundation component being driven before a human operator is aware or has the opportunity to stop the automated drilling operation to attempt to mitigate the stall. In recognition of this problem, various embodiments of this disclosure provide systems, methods, and machines that leverage the automation of the truss driver machine to identify situations requiring mitigation quickly and autonomously and to perform mitigations strategies before any damage to any tools or components occurs.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows components of an exemplary truss foundation according to various embodiments of the invention;

FIG. 2 shows an exemplary assembled truss foundation using the components shown in FIG. 1 according to various embodiments of the invention;

FIG. 3A is a mast or rear view of an exemplary machine for driving foundation components and assembling truss foundations according to various embodiments of the invention;

FIG. 3B is a partial mast view of an exemplary machine for driving foundation components and assembling truss foundation engaged in a drilling while driving operation;

FIG. 4 is a block diagram showing components of an exemplary circuit for controlling a foundation component driving and assembly machine to perform an automated screw anchor driving operation according to various exemplary embodiments;

FIG. 5 is a block diagram showing components of an exemplary circuit for detecting and mitigating drill stalls in a foundation component driving and assembly machine according to various exemplary embodiments;

FIG. 6 is a flow chart detailing steps of a method for monitoring for a stall condition while performing an automated driving operation with a foundation component driving and assembly machine according to various exemplary embodiments;

FIG. 7 is a flow chart detailing steps of a method for mitigating a stall of the drilling tool of the foundation component driving and assembly machine while performing an automated screw anchor driving operation; and

FIG. 8 is an exemplary scatter plot showing hydraulic pressure readings taken from a hydraulic drilling tool of the foundation component driving and assembly machine indicative of a stall condition according to various exemplary embodiments.

DETAILED DESCRIPTION

The following description is intended to convey a thorough understanding of the embodiments described by providing a number of specific embodiments and details involving control systems for foundation component driving machines. It should be appreciated, however, that the present invention is not limited to these specific embodiments and details, which are exemplary only. It is further understood that one possessing ordinary skill in the art in light of known systems and methods, would appreciate the use of the invention for its intended purposes and benefits in any number of alternative embodiments, depending upon specific design and other needs, including pile driving and drilling machines generally.

Turning now to the drawing figures, FIG. 1 shows the components of the EARTH TRUSS foundation system according to at least one exemplary embodiment of the invention and FIG. 2 shows an assembled EARTH TRUSS foundation assembled from the components shown in FIG. 1 . As illustrated, this system consists of a screw anchor component 10, an upper leg 20 and an apex component 25 identified as a truss cap. These components are assembled together to form complete truss foundation 5. Screw anchor 10 is a hollow steel tube with an external thread form 12 at the lower end and a driving coupler 15 at the opposing, upper end. Driving coupler 15 as shown, is a cast piece attached to or welded to the upper end of screw anchor 10 that has a ring of teeth circumscribing its outer diameter. In various embodiments, these teeth are engaged by corresponding voids formed in the chuck of the rotary driver of the truss driver machine. This enables the rotary driver to impart torque and downforce without needing to be mechanically locked to the head of the screw anchor with pins or other devices that must be removed before the machine can be decoupled. Upper leg 20, as shown, is a section of hollow, galvanized steel pipe. Truss cap 25 as shown is another single casting with a pair of opposing connecting portion 30 and an upper support surface 31. Upper support surface 31 provides a mounting platform for a bearing assembly of a single-axis tracker. The bearing assembly shown in FIG. 2 is that of conventional top-down style tracker such as that manufactured and sold by Array Technologies Inc. of Albuquerque, NM. Truss caps that support other tracker maker's systems may have a different geometry designed to fit with their specific bearing component. The various embodiments of the invention are agnostic as to which type of tracker is being supported.

Assembly of the truss foundation shown in FIG. 2 with the components of FIG. 1 is accomplished in various exemplary embodiments by driving a pair of adjacent screw anchors into the ground at opposing angles to one another to straddle an intended North-South tracker row with a truss driver machine. Then, the drilling tool and rotary driver are retracted and the mast of the machine is moved to an alignment orientation that insures the truss cap is held at the desired orientation relative to the yet to be installed tracker torque tube by a jig, holder, or other device on the mast. Upper legs at the appropriate length are sleeved over the connecting portions of the truss cap while it is held in place and down over one of the couplers of one of the driven screw anchors, resting against the teeth. Once all components are in place, hydraulic crimping devices attached to the machine are removed from their stowed position, placed over the upper legs where they overlap the truss cap connecting portions and the coupler on each screw anchor, and engaged to deform the upper leg into the recesses on each connecting portion and coupler. This locks the geometry of the truss legs in place. The truss cap is unlocked from the jig or holder and the machine is tracked ahead to the next foundation location so that the process may be repeated until the end of the tracker row is reached. In various embodiments, a human operator may walk along side the machine to the next survey marker. In other embodiments, the machine may track automatically using GPS and/or a combination of GPS and laser alignment.

FIG. 3A shows an exemplary truss driver machine for embedding foundation components and assembling Earth Truss foundations according to at least one exemplary embodiment of the invention. As shown in FIG. 3A, truss driver machine 100 is a piece of heavy equipment riding on a tracked chassis 107 with a diesel motor and onboard hydraulic system powered by the diesel motor. An articulating mast 110 at the back end of the machine is able to move between vertical and horizontal orientations for use and stowing respectively. The connection between the machine and mast also allows the latter to move in X, Y, Z and to adjust in pitch, yaw and roll with respect to the machine so that the truss cap will achieve the desired orientation relative to the intended location of the torque tube regardless of the orientation of the machine.

Mast 110, as shown, extends in a straight-line 20+feet and has a pair of parallel rails 115 extending its length. A drive chain 125 runs between rails 115 between chain tensioners 120 at either end of the mast. A lower hydraulic crowd motor 170 powers drive chain 125 moving the lower and upper crowd sleds (130, 150 respectively) up and down mast 110 along parallel rails 115. Lower crowd 150 holds the rotary driver 155 and target plate 160. Rotary driver 155 at its bottom end accepts the head of a screw anchor or other foundation component and applies torque to drive it into the ground once the mast is oriented to the correct driving location and orientation. Simultaneous downforce comes from lower crowd motor 170. An automated controller, not shown in FIG. 3A, typically located in a control panel, controls rotary driver 155 and lower crowd motor 170 to supply the appropriate amount of torque and downforce to drive a screw anchor until it reaches the target embedment depth. Upper crowd 130 is positioned on mast 110 above lower crowd 150 and includes a separate upper crowd motor 135 that enables it to move along the drive chain independent of the movement caused by lower crowd motor 170. Upper crowd 130 also carries drilling tool 140, such as, for example, a hydraulic drifter. Drill rod 142 attached to the output of drilling tool 140 extends from the drilling tool, along the mast, and through rotary driver 155 and the attached foundation component to provide drill assist during the screw anchor embedment operation. Using a planetary gear system or other suitable mechanical assembly, rotary driver 155 has a hollow passage through its center that allows drill rod 142 to pass through without mechanical interference. In various embodiment, the controller can selectively engage and control upper crowd motor 135 and drilling tool 140 to change its position relative to lower crowd 150, to turn the drill on and off, to turn hammering by the drilling tool on and off and for other reasons, as necessary. In other words, the drill may have a different feed and speed than the driven foundation component.

FIG. 3B, shows truss driver machine 100 of FIG. 3A engaged in a driving operation. During this operation, a foundation component, in this example, screw anchor 10, has been attached to the chuck of rotary driver 155. Using a combination of downforce and torque, the controller controls mast 110 to adjust to the desired driving vector (combination of position, pitch, roll, and yaw), and then engages rotary driver 155 and lower crowd motor 170 to drive the component to the desired embedment depth. Thought not shown in FIG. 3A or 3B, the controller may be located in a closed cabinet elsewhere on the machine. At the same time as the rotary driver is activated, in various embodiments the controller actives drilling tool 140 to travel down the mast on upper crowd 130 to extend drill bit 185 through the rotary driver 155 and driven component so that drill bit 185 protrudes from the open lower end. In FIG. 3B, drill bit 185 can be seen extending out of the open end of anchor 10 to clear a bore hole 200 for the anchor to be driven into. Though not shown, pressurized air may also be emitted from the drill bit to enable drilling spoils to be ejected from the borehole through the screw anchor. Pressurized air may travel from an onboard air compressor to the drilling tool, and down an air passage formed in the center of the drill rod. In various embodiments, ejected spoils may travel up the foundation component and be shot out of the rotary driver. In various embodiments, a centralizer 180 at the foot of the mast may close around or otherwise engage the foundation component to help keep it from wobbling during embedment. This may be particularly useful since the rotary driver engages the component at its upper end. The controller may control the upper crowd and drilling tool to change its velocity, down force, and/or downward rate of travel to provide more or less drill assist, or, depending on the type of bit used, to increase the frequency and/or force of drill hammering.

FIG. 4 is a block diagram showing components of an exemplary circuit 300 for automated control of a screw anchor driving or embedment operation with the truss driver machine such as that shown in FIGS. 3A and 3B. Although the components are shown as being physically interconnected in this diagram, it should be appreciated that they may be communicatively coupled via one or more wireless communication links as well, or, in the alternative. Also, block diagram 300 is merely a graphically representation and does not imply a specific physical topography. It should be appreciated that the components shown in FIG. 4 need not be housed in a single enclosure, and in fact, the sensor nodes and control nodes are dispersed around the mast.

The heart of the automated control system shown in FIG. 4 is controller 305. Controller 305 may one or more of any commercially available microprocessors such as those available from Intel Corporation. Alternatively, the controller may be an integrated circuit (IC) microcontroller. In still further embodiments, the controller may be a programmable logic controller or PLC. PLCs are manufactured and sold by many companies including Siemens, Rockwell Automation/Allen Bradley, Mitsubishi Electric, Schneider Electric, and Omron to name a few. PLCs are frequently used in machine automation because they support common programming languages (Ladder Diagram, Structured Text, SFC, FBD, and Instruction List) and because manufactures make ruggedized turn-key solutions incorporating enclosures, connectors, data busses and wired and wireless communication protocols that can be easily integrated into heavy equipment and other machine applications.

As shown in FIG. 4 , the control system includes a separate power supply 302 that takes the native 12 or 24 volt of the machine down to a voltage suitable for the controller and its interconnected components (i.e., 3 volts). A memory unit 310 is also shown in FIG. 4 . Memory unit 310 may reside within the controller or may supplement onboard memory to store program code for operating the machine, for recording data generated during drilling and driving operations, and/or for storing any other suitable data. The remaining components are classified generally as sensor nodes 320A, through 320N, and control nodes 315A, through 315N, where letters A-N are integers. Sensor nodes 320A, through 320N may include one or more sensors on the mast or machine including, but not limited to hydraulic pressure sensors, inclinometers, accelerometers, linear encoders, angular encoders, air pressure sensors, and timers, among others. These sensors may sit in isolation on the machine or mast or may be incorporated into devices operating on the mast. Control nodes 315A, through 315N represent controllable systems and/or devices on the machine or mast. These may include items such as the lower crowd motor, the rotary driver, the tool driver, and the upper crowd motor. These may also include proportioning valves controlling hydraulic fluid flow rates, air flow rates, the mast rotator, the mast X slide, the mast Y slide, mast twist (yaw), mast roll, mast pitch, power (in the case of automated shut off), the hydraulic system, or even the machine itself, among other control nodes.

Once an operator initiates an automated screw anchor driving operation, controller 305, while receiving feedback from one or more of the sensor nodes 320A, through 320N, controls various one of the control nodes 315A, through 315N in accordance with stored program data to orient the mast to the correct driving vector and to initiate the embedment operation to embed a screw anchor or other foundation component to the desired embedment depth. Information from one or more of the sensor nodes 320A, through 320N will enable the controller to determine that the component has reached the target embedment depth so that the drive operation may be appropriately terminated upon completion.

In various embodiments, although the driving operations are performed on an automated basis, a handheld or neck-worn remote control may be used to control the machine, that is, to initiate and terminate the automated process. Once the operation is initiated, in various embodiments, controller 305 autonomously monitors various performance metrics of the mast components to optimize each operation. However, situations may occur that require manual intervention. For example, while driving, it is possible that spoils may become impacted in the bore hole, or the bit may become stuck in a rock or other obstruction. A skilled operator who is paying close attention may be able to detect this stalled situation simply by listening and watching the machine, however, this requires the operator to be constantly paying attention. If missed, this condition could continue to persist until unnecessary wear and tear or immediate damage to one or more of the mast component or foundation component occurs. Ideally, controller 305 will detect one or more variables from the array of sensor nodes to enable stall conditions to be quickly detected so that they may be mitigated before damage to the drill bit, foundation component, or machine occurs.

To that end, various embodiments of the invention provide systems and methods for using the automated control system used to drive foundation components into the ground with drill assist to quickly detect the occurrence of a situation requiring intervention, to intervene, and to mitigate the situation without any input from the machine operator, or without the machine operator even being aware that it happened. FIG. 5 shows specific elements of an exemplary automated control system for a truss driver machine that can detect and mitigate stalls of the drilling tool based on monitored hydraulic pressure readings at the tool or so-called upper rotary. In drag bit mode, the drilling tool provides torque to the tool bit while the lower crowd motor and, if necessary, the upper crowd motor, provides the downforce for the bit. This is as opposed to rock bit mode which progresses not by friction but rather by percussive hammering. In addition, the drill rod may have a hollow channel through its center to enable compressed air to pass through the rod and drill bit to assist with the ejection of drilling spoils. Drag bits are meant to scrape against the bore surface to break apart rocks and gravel and drill a hole through them where as rock bits pummel a hole through them. When encountering solid bedrock, such as that shown below the sedimentary layer in FIG. 3B, or when drilling directly into rock without an upper sedimentary layer, a rock drill bit such as a button bit may be used. Button bits have a series of carbide buttons that pummel the rock into gravel and dust through repeated hammering of the drill bit against the rock. In such cases, the drilling tool not only rotates but also hammers.

With continued reference to FIG. 5 , in this exemplary embodiment, the controller is communicatively coupled to a hydraulic pressure sensor that takes sequential hydraulic pressure readings at the drilling tool. In various embodiments, this information is captured a hundred or more times per second and received and monitored by the controller in accordance with stored program code executed by the controller. In various embodiments, this information may be stored in memory in the controller itself or in a memory coupled to the controller for maintenance or other purposes. In accordance with the control program, the controller monitors the information for the existence of a condition that indicates that a stall has begun. The existence of this condition may be revealed by the values of the pressure readings over a certain threshold for a unit of time. To mitigate this condition, as discussed in greater detail in the context of FIGS. 6, 7 and 8 , the controller may communicate with the upper crowd, drilling tool, rotary driver, and lower crowd to mitigate the stall. In various embodiments, the controller may execute program code that monitors hydraulic pressure in the drilling tool for readings that indicate that a stall is in progress so that the drilling operation may be paused immediately while drill stall mitigation occurs. Once mitigation is complete, which, may in various embodiments also be indicated by monitoring pressure readings for the absence of the condition that indicated the stall in the first place, by monitoring the drill insertion rate or derived from other sensor node information, the program code may instruct the controller to control the upper crowd, drilling tool, rotary driver, and lower crowd to resume the drilling operation in accordance with the program code controlling the operation.

Turning now to FIGS. 6 and 7 , these figures are flow charts showing the steps of exemplary methods for driving a foundation component while monitoring for stalls and for mitigating stalls, respectively, with a foundation component driving and truss assembly machine such as the truss driver. Beginning with the exemplary method 400 shown in FIG. 6 , in step 410, the automated driving operation begins. As discussed herein, in various embodiments, this may be initiated by an operator pressing a start or other button on a remote control for the machine. Alternatively, a button or other physical or soft control on a user interface attached to the truss driver machine may be activated. Initiation of the driving operation causes the controller to take whatever sensor data inputs are required for baseline information and to instruct the lower crowd motor, rotary driver, drilling tool, and if necessary, the upper crowd motor, to begin driving a foundation component with drill assist into the underlying ground in accordance a stored program executed by the controller. In the ordinary course of operation, the combination of downforce and torque imparted by the rotary driver and lower crowd motor, as well as rotation of the drill bit extended through the rotary driver and open lower end of the foundation component, causes the component to drive into the underlying ground along the vector set by the mast. While this occurs, the controller receives pressure sensor readings from a sensor node providing hydraulic fluid pressure readings from the drilling tool. In various embodiments, this data is sampled at a sufficiently high sample rate to enable a hundred or more readings to be obtained each second. In step 415, these readings are continuously reviewed by the controller in accordance with the stored program code to determine if they are indicative of a stall. In various embodiments, and as shown in FIG. 8 , a stall is deemed to have occurred when the pressure increases to a relative maximum and subsequent readings are clustered closely around that relative maximum value. In this context, clustered closely around implies that a large percentage (i.e., 90-percent) of the values are within 10% of the relative maximum value. As seen in FIG. 8 , normal readings are likely to jump around between high and low readings as the drilling tool rotates the drag bit through the bore hole. Progress may be momentarily retarded by spoils, harder soil, rocks, changes in soil density or because of other factors causing pressure readings to change. These conditions will account for momentary changes in pressure between readings. However, when a stall occurs, rotation stops, causing hydraulic pressure in the drilling tool to spike and remain high. This tight grouping of high-pressure readings over a continuous time period (e.g., ½ second), indicates that the drill has encountered increased resistance and is about to be or is in fact stalled. So, in step 415, if the controller determines that the data points do not indicate a stall, operation proceeds to step 420 where the controller, based on readings from one or more additional sensor nodes (e.g., linear encoder), determines whether the target embedment depth has been reached. If so, the controller is programmed to terminate the driving operation. Otherwise, if not, operation returns to step 410 where the foundation component continues to be driven with drill assist while the controller monitors pressure at the drilling tool. The controller is programmed to continue this cycle until a stall is detected in step 415 or, until the target embedment depth is determined to be reached in step 420.

If, in step 415, the controller determines that a stall is occurring, operation of the program advances to step 425 where stall mitigation is initiated. Stored program code causes the controller to begin executing the process shown in FIG. 7 . The process of FIG. 7 begins in step 430 where the drive operation is paused. Here, in various embodiments, the controller may interrupt the driving operation, instructing the rotary driver and lower crowd motor to stop applying torque and down force, respectively. This is done to protect the foundation component from damage by trying to force it into the jammed bore hole. Then, at step 435, stored program code causes the controller to partially retract the drilling tool, and by extension, the drill rod and bit up into the foundation component. In various embodiments this comprises the controller activating the upper crowd motor to move the upper crowd, and by extension, the drilling tool, rod, and bit, up the mast so that the drill bit is drawn out of the jam. At this point, operation may proceed. Then, in step 440, the controller may activate a valve to release pressured air out of the drill bit to eject spoils that may be accounting for the stall situation. In other embodiments, compressed air may always be released from the drill bit when the drilling tool is active and in this step, the flow of air may be increased. In various embodiments, an on-board air compressor feeds compressed air into the drilling tool. The compressed air travels down a hollow channel in the center of the drill rod and into a corresponding opening in the body of the drill bit where it is released via one or more ports in the bit. This compressed air should cause spoils to be driven up the foundation component, around the outside of the drill rod but inside the foundation component until it reaches the opening at the point where the rotary driver engages the driving coupler.

Next, in step 445, the stored program code causes the controller to activate the drilling tool and upper crowd motor to advance the drill rod and bit back down into the bore hole while the drill rotates. As mentioned herein, if a button bit is being used, this will involve hammering the drill bit as well as rotating it. In step 450, hydraulic pressure at the drilling tool is continuously monitored by the controller so that it can determine whether the stall has been successfully mitigated or “cleared” as indicated in FIG. 7 . If not, stored program code may cause operation to return to step 435 where the drill is again retracted from the jammed borehole to repeat the mitigation steps.

If, at step 450 the controller determines that the stall has been cleared, as indicated, for example, by pressure readings at the drilling tool returning to normal, stored program code, in the exemplary method shown, this causes the processor to return back to step 410 of flow chart 400 of FIG. 6 where the drilling operation is resumed.

Referring again to FIG. 8 , this figure is an exemplary scatter plot graphically representing sequential pressure readings that may be supplied from a pressure sensor to the control during an automated driving operation where the drilling tool is providing drill assist. At just past the T_(0+0.55) mark, the pressure readings climb to a relative maximum and cluster around that maximum for the next ½ second. In various embodiments, readings consistent with this patter may cause the controller to determine that stall condition is in progress and to begin a subroutine to mitigate the stall condition as shown and discussed herein.

It should be appreciated that the embodiments described and claimed herein are exemplary only. Those of ordinary skill in the art will appreciate modifications and substitutions that retain the spirit and scope of the invention. Thus, such modifications are intended to fall within the scope of the following appended claims. For example, although the various embodiments have been described in the context of a truss driver machine, it should be appreciated that various embodiments of the invention may be equally applicable to machines that drive conventional H-piles such as vibratory and percussive hammering machines and solar pile driving machines that combine a small drilling rig with a pile driver Therefore, although some of the embodiments of the present invention have been described herein in the context of a particular implementation in a particular environment for a particular purpose, those of ordinary skill in the art will recognize that this disclosure's usefulness is not limited thereto and that the embodiments of the present inventions can be beneficially implemented in any number of environments for any number of purposes. Accordingly, the claims set forth below should be construed in view of the full breath and spirit of the embodiments of the present invention as disclosed herein. Thus, such modifications are intended to fall within the scope of the following appended claims. Further, although some of the embodiments of the present invention have been described herein in the context of a particular implementation in a particular environment for a particular purpose, those of ordinary skill in the art will recognize that its usefulness is not limited thereto and that the embodiments of the present inventions can be beneficially implemented in any number of environments for any number of purposes. 

1. A machine for driving foundation components comprising: a base machine; an adjustable mast attached to the base machine; a rotary driver, movably attached to the mast and controllable to drive a foundation component into underlying ground to a target embedment depth; a drilling tool movably attached to the mast and controllable to operate a drill rod through the rotary driver; and a control system including a controller executing a control program for automatically controlling the rotary driver and the drilling tool to drive a foundation component to a desired embedment depth, wherein the control program contains program code causing the controller to detect and mitigate a stall of the drilling tool while driving a foundation component to the target embedment depth.
 2. The machine according to claim 1, wherein the program code causing the controller to detect and mitigate a stall of the drilling tool comprises program code that instructs the controller to monitor hydraulic pressure sensor data comprising a series of sequential pressure readings from within the drilling tool to detect a stall of the drilling tool.
 3. The machine according to claim 2, wherein the program code that instructs the controller to monitor hydraulic pressure sensor data from within the drilling tool causes the controller to determine if the hydraulic pressure sensor data indicates a distribution of values over a pre-determined time period that are clustered around a relative maximum pressure reading.
 4. The machine according to claim 3, wherein clustered around a relative maximum pressure reading comprises determining a relative maximum and from the hydraulic pressure sensor data and determining if during the predetermined time period most pressure readings are within 10 PSI of the relative maximum value.
 5. The machine according to claim 4, wherein most comprises at least 90% of the pressure readings.
 6. The machine according to claim 1, wherein the program code causing the controller to detect and mitigate a stall of the drilling tool comprises program code that causes the controller to pause driving the foundation component to clear the stall prior to resuming driving the foundation component to the target embedment depth.
 7. The machine according to claim 6, wherein clearing the stall comprises controlling the drilling tool to temporarily withdrawal the drill bit and then to control the drilling tool to advance the drill bit ahead of the foundation component and ejecting pressurized air from the drill bit to clear the stall.
 8. The machine according to claim 6, wherein the program code further causes the controller to control the rotary driver to resume driving the foundation component once the stall is cleared until the foundation component reaches the target embedment depth.
 9. The machine according to claim 8, where the program code causes the controller to determine that a stall has been cleared by monitoring hydraulic pressure sensor data while clearing the stall and determining that the stall has cleared when the hydraulic pressure sensor data is no longer clustered around a relative maximum reading.
 10. A stall mitigation system for an automated foundation component embedment machine comprising: a controller executing stored program code for controlling the rotary driver and drilling tool to embed a foundation component into underlying ground; a plurality of control nodes; and a plurality of sensor nodes, wherein the program code causes the controller to control the control nodes to begin an automated operation to embed a foundation component into the underlying ground, and, based on an output of at least one of the sensor nodes, to determined that a stall of at least one of the control nodes has occurred while performing the automated operation to embed the foundation component.
 11. The system according to claim 10, wherein the stored program code causes the controller to determine that a stall of at least one of the control nodes has occurred when the output of the at least one sensor node indicates a distribution of sequential pressure readings taken by the at least one sensor node over a pre-determined time period are clustered around a relative maximum value.
 12. The system according to claim 11, wherein the output of the at least one sensor nodes indicates a distribution of pressure readings over a pre-determined time period that are clustered around a relative maximum value when at least 90-percent of the readings are within 10 PSI of that relative maximum value during the pre-determined time period.
 13. The system according to claim 10, wherein in response to determining that a stall of at least one of the control nodes has occurred, the stored program code causes the controller to pause embedment of the foundation component and to control at least one of the control nodes to clear the stall.
 14. The system according to claim 10, wherein the at least one control nodes is a hydraulic drilling tool.
 15. The system according to claim 14, where the stored program code causes the controller to control the hydraulic drilling tool to perform an automated mitigation process to clear the stall.
 16. The system according to claim 15, wherein the automated mitigation process to clear the stall comprises controlling the drilling tool to partially withdrawal the drill bit and to advance the drill ahead of the foundation component while ejecting pressurized air from the drill bit until the stall is cleared, such condition being determined by the controller when the sequential pressure readings taken by the at least one sensor node are no longer clustered around a relative maximum.
 17. A method of controlling an automated machine for driving foundation components comprising: with a digital controller communicatively coupled to the automated machine, executing stored program code causing the controller to control the automated machine to attempt to embed a foundation component into underlying ground to a target embedment depth; and with the digital controller, executing stored program code causing the controller to monitor an output of at least one pressure sensor connected to a component of the automated machine to determine if a stall of the component has occurred and to mitigate the stall before continuing to attempt to embed the foundation component.
 18. The method according to claim 17, wherein executing stored program code causing the controller to control the automated machine to attempt to embed a foundation component into underlying ground to a target embedment depth comprises controlling with the digital controller at least a rotary driver, a drive train, and a drilling tool to attempt to embed the foundation component.
 19. The method according to claim 17, wherein the stored program code causes the controller to detect the occurrence of a stall by monitoring an output of at least one pressure sensor sensing hydraulic pressure at the drilling tool and determining that a stall has occurred if the output indicates a distribution of sequential pressure readings over a pre-determined time period that are clustered around a relative maximum pressure reading.
 20. The method according to claim 19, wherein clustered around comprises determining a relative maximum pressure reading from the sensor data during the predetermined time period and determining if at least a 90 percent of the values are within 10 PSI of that maximum pressure reading. 